{"id":"https://openalex.org/W2519283593","doi":"https://doi.org/10.1109/thms.2016.2604363","title":"Motion Guidance for a Passive Robot Walking Helper via User's Applied Hand Forces","display_name":"Motion Guidance for a Passive Robot Walking Helper via User's Applied Hand Forces","publication_year":2016,"publication_date":"2016-09-15","ids":{"openalex":"https://openalex.org/W2519283593","doi":"https://doi.org/10.1109/thms.2016.2604363","mag":"2519283593"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2016.2604363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2016.2604363","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Human-Machine Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102133937","display_name":"Yi-Hung Hsieh","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yi-Hung Hsieh","raw_affiliation_strings":["Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102729918","display_name":"Yi-Che Huang","orcid":"https://orcid.org/0009-0007-1007-5056"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yi-Che Huang","raw_affiliation_strings":["Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060010065","display_name":"Kuu\u2010Young Young","orcid":"https://orcid.org/0000-0003-3636-7667"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuu-Young Young","raw_affiliation_strings":["Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022426724","display_name":"Chun-Hsu Ko","orcid":"https://orcid.org/0000-0003-0206-211X"},"institutions":[{"id":"https://openalex.org/I98298690","display_name":"I-Shou University","ror":"https://ror.org/04d7e4m76","country_code":"TW","type":"education","lineage":["https://openalex.org/I98298690"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Hsu Ko","raw_affiliation_strings":["Department of Electrical Engineering, I-Shou University, Kaohsiung City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, I-Shou University, Kaohsiung City, Taiwan","institution_ids":["https://openalex.org/I98298690"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K. Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102133937"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":1.8747,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86762127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"46","issue":"6","first_page":"869","last_page":"881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7082445025444031},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6364632248878479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4870317578315735},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46265774965286255},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.421072393655777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.389851838350296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35873427987098694}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7082445025444031},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6364632248878479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4870317578315735},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46265774965286255},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.421072393655777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.389851838350296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35873427987098694}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2016.2604363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2016.2604363","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Human-Machine Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4928633883","display_name":null,"funder_award_id":"102-2221-E-009-138-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G8839284227","display_name":null,"funder_award_id":"103-2221-E-214-049","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1570306703","https://openalex.org/W1967552483","https://openalex.org/W1975759638","https://openalex.org/W1994162249","https://openalex.org/W2012976444","https://openalex.org/W2018747328","https://openalex.org/W2019207321","https://openalex.org/W2046738003","https://openalex.org/W2047851005","https://openalex.org/W2048315518","https://openalex.org/W2053677366","https://openalex.org/W2055646847","https://openalex.org/W2077413066","https://openalex.org/W2077882555","https://openalex.org/W2079325629","https://openalex.org/W2083449316","https://openalex.org/W2100173077","https://openalex.org/W2101715975","https://openalex.org/W2111052258","https://openalex.org/W2115895912","https://openalex.org/W2135956194","https://openalex.org/W2146421658","https://openalex.org/W2157641498","https://openalex.org/W2169003662","https://openalex.org/W2295797196","https://openalex.org/W2768689142","https://openalex.org/W3099514962","https://openalex.org/W4230375040","https://openalex.org/W6670005079","https://openalex.org/W6685122299"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W4323870231","https://openalex.org/W2967743314"],"abstract_inverted_index":{"As":[0],"the":[1,46,65,111,114,123,126,131,136,155,162],"elderly":[2],"population":[3],"is":[4,32,165],"rapidly":[5],"growing":[6],"in":[7,26,183],"our":[8,148,184],"society,":[9],"robot":[10,35,57,83,115,179],"walking":[11,36,58,84,116,180],"helpers":[12,37],"are":[13],"receiving":[14],"more":[15,52],"attention":[16],"these":[17,34],"days.":[18],"To":[19],"be":[20,39],"practical":[21],"and":[22,42,118,130],"safe":[23],"for":[24,54,80,122],"use":[25],"daily":[27],"life,":[28],"an":[29,143],"important":[30,53],"issue":[31],"whether":[33],"can":[38],"effectively":[40],"maneuvered":[41],"provide":[43],"guidance":[44,78,153],"to":[45,69,92,110,154],"users.":[47],"These":[48],"concerns":[49],"become":[50],"even":[51],"a":[55,76,81,90,104,119,168,177],"passive":[56,82,178],"helper,":[59],"as":[60],"it":[61],"relies":[62],"mainly":[63],"on":[64,135],"user's":[66,94],"applied":[67,97],"forces":[68,129],"move.":[70],"In":[71],"this":[72],"paper,":[73],"we":[74,88],"propose":[75],"motion":[77,152,173],"system":[79,91,101,164],"helper.":[85,137],"More":[86],"specifically,":[87],"develop":[89],"identify":[93],"intentions":[95],"from":[96,147],"grip":[98,128],"forces.":[99],"This":[100],"consists":[102],"of":[103,106,113,161,170],"pair":[105],"force-sensing":[107],"grips":[108],"attached":[109],"handles":[112],"helper":[117,181],"learning":[120,139],"scheme":[121],"mapping":[124],"between":[125],"measured":[127],"driving":[132],"force/torque":[133],"imposed":[134],"The":[138,159],"scheme,":[140],"combined":[141],"with":[142,175],"assistive":[144],"strategy":[145],"extended":[146],"previous":[149],"work,":[150],"provides":[151],"elders":[156],"during":[157],"walking.":[158],"feasibility":[160],"proposed":[163],"demonstrated":[166],"via":[167],"series":[169],"experiments":[171],"involving":[172],"assistance":[174],"i-Go,":[176],"developed":[182],"laboratory.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}